Product Description
The MinIMU-9 v6 is an inertial measurement unit (IMU) that packs an LSM6DSO 3-axis gyro and 3-axis accelerometer and an LIS3MDL 3-axis magnetometer onto a tiny 0.8? × 0.5? board. An I2C interface accesses nine independent rotation, acceleration, and magnetic measurements that can be used to calculate the sensor’s absolute orientation. The MinIMU-9 v6 board includes a voltage regulator and a level-shifting circuit that allow operation from 2.5 to 5.5 V, and the 0.1? pin spacing makes it easy to use with standard solderless breadboards and 0.1? perfboards.
The Pololu MinIMU-9 v6 is a compact (0.8? × 0.5?) board that combines ST’s LSM6DSO 3-axis gyroscope and 3-axis accelerometer and LIS3MDL 3-axis magnetometer to form an inertial measurement unit (IMU); we therefore recommend careful reading of the LSM6DSO datasheet (3MB pdf) and LIS3MDL datasheet (2MB pdf) before using this product. These sensors are great ICs, but their small packages make them difficult for the typical student or hobbyist to use. They also operate at voltages below 3.6 V, which can make interfacing difficult for microcontrollers operating at 5 V. The MinIMU-9 addresses these issues by incorporating additional electronics, including a voltage regulator and a level-shifting circuit, while keeping the overall size as compact as possible. The board ships fully populated with its SMD components, including the LSM6DSO and LIS3MDL, as shown in the product picture.
Compared to the previous MinIMU-9 v5, the v6 version replaces the LSM6DS33 accelerometer/gyro MEMS sensor with the newer LSM6DSO, which offers various improvements like lower noise and a higher maximum output data rate for the gyro. The MinIMU-9 v6 should be able to serve as a drop-in replacement for the MinIMU-9 v5 in many applications; in other cases, software changes might be required.
The MinIMU-9 v6 is also pin-compatible with the AltIMU-10 v6, which offers the same functionality augmented by a digital barometer that can be used to obtain pressure and altitude measurements. The AltIMU includes a second mounting hole and is 0.2? longer than the MinIMU. Any code written for the MinIMU-9 v6 should also work with the AltIMU-10 v6.
- Dimensions: 0.8? × 0.5? × 0.1? (20 mm × 13 mm × 3 mm)
- Weight without header pins: 0.7 g (0.02 oz)
- Operating voltage: 2.5 V to 5.5 V
- Supply current: 5 mA
- Output format (I2C):
- Gyro: one 16-bit reading per axis
- Accelerometer: one 16-bit reading per axis
- Magnetometer: one 16-bit reading per axis
- Sensitivity range:
- Gyro: ±125, ±250, ±500, ±1000, or ±2000°/s
- Accelerometer: ±2, ±4, ±8, or ±16 g
- Magnetometer: ±4, ±8, ±12, or ±16 gauss
Included Components
A 1×6 strip of 0.1? header pins and a 1×5 strip of 0.1? right-angle header pins are included, as shown in the picture below. You can solder the header strip of your choice to the board for use with custom cables or solderless breadboards or solder wires directly to the board itself for more compact installations. The board features two mounting holes that work with #2 or M2 screws (not included).
General specifications
- Interface: I2C
- Minimum operating voltage: 2.5 V
- Maximum operating voltage: 5.5 V
- Axes: pitch (x), roll (y), and yaw (z)
- Measurement range:
- ±125, ±250, ±500, ±1000, or ±2000°/s (gyro)
- ±2, ±4, ±8, or ±16 g (accelerometer)
- ±4, ±8, ±12, or ±16 gauss (magnetometer). User-configurable.
- Supply current: 5 mA
